Distributed real-time processing for humanoid robots

Toshihiro Matsui, Hirohisa Hirukawa, Yutaka Ishikawa, Nobuyuki Yamasaki, Satoshi Kagami, Fumio Kanehiro, Hajime Saito, Tetsuya Inamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

A humanoid robot is a real-time system controlled by a complex computer system that requires huge computing power for perception and planning, high energy efficiency for self-contained control, reduction of physical dimensions, and high reliability. This paper proposes a distributed architecture for the humanoid robot control substituting conventional centralized control architectures. In addition to the parallelism that provides scalable computing power at low clock namely at low energy, the distributed architecture contributes to reliable operations by replacing many fragile analog signal wires with a digital network with redundant routes. In order to accomplish a real-time control over the network, RMTP (Responsive Multi-Threaded Processor) for parallel and real-time computation has been newly designed. RMTP can synchronize more than thirty nodes distributed over a robot body in less than 5 micro second with a realtime network called the Responsive Link (RL). Architectures of RMTP, RL and Linux-based real-time system software are presented.

Original languageEnglish
Title of host publicationProceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
Pages205-210
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications - Hong Kong, China
Duration: 2005 Aug 172005 Aug 19

Publication series

NameProceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications

Other

Other11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
CountryChina
CityHong Kong
Period05/8/1705/8/19

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Matsui, T., Hirukawa, H., Ishikawa, Y., Yamasaki, N., Kagami, S., Kanehiro, F., Saito, H., & Inamura, T. (2005). Distributed real-time processing for humanoid robots. In Proceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (pp. 205-210). [1541082] (Proceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications). https://doi.org/10.1109/RTCSA.2005.39